This paper presents a Belief Propagation (BP) stereo matching algorithm using ground control points. The proposed
algorithm combines local and global stereo methods, which first utilizes local stereo method to obtain an initial disparity
map, then the ground control points are selected from the initial disparity and used on belief propagation algorithm for
global stereo matching. Since using ground control points, the proposed algorithm improves BP algorithm in
convergence speed. Moreover, this paper proposes a color constraint voting method to optimize the disparity in postprocessing. Experimental results show that the proposed algorithm shares low computational complexity but high
matching accuracy.